\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.25 \% & 93.62 \% & 83.79 \%\\
Car (Orientation) & 94.09 \% & 93.12 \% & 83.11 \%\\
Car (3D Detection) & 27.86 \% & 19.51 \% & 16.58 \%\\
Car (Bird's Eye View) & 36.51 \% & 25.27 \% & 22.77 \%\\
Pedestrian (Detection) & 81.40 \% & 64.32 \% & 59.24 \%\\
Pedestrian (Orientation) & 72.24 \% & 56.35 \% & 51.52 \%\\
Pedestrian (3D Detection) & 16.26 \% & 10.62 \% & 9.02 \%\\
Pedestrian (Bird's Eye View) & 17.57 \% & 11.70 \% & 10.12 \%\\
Cyclist (Detection) & 71.25 \% & 53.33 \% & 46.66 \%\\
Cyclist (Orientation) & 56.11 \% & 41.50 \% & 36.81 \%\\
Cyclist (3D Detection) & 6.26 \% & 4.24 \% & 3.98 \%\\
Cyclist (Bird's Eye View) & 7.58 \% & 4.82 \% & 4.78 \%
\end{tabular}